JP2019015678A - Positioning device and positioning system - Google Patents

Abstract

To provide a positioning device and a positioning system that can measure the absolute position of a positioning target with a high reliability without requiring an artificial operation, from positional data of the positioning target determined by a relative coordinate system.SOLUTION: The positioning device determines the time when a positioning target comes the closest to a base station on a base station-by-base station basis on the basis of the time-series radio wave intensity data stored in a first storage unit. The positioning device relates data of a relative coordinate system stored in a second storage unit to each time from a first time to a second time, the first time being the time when the positioning target is determined to be the closest to a base station and the second time being a time when the target is determined to be the closest to another base station by determination means, and converts the data into data with the coordinates of the absolute coordinate system of the base station to which the positioning target is the closest at the first time as the base point.SELECTED DRAWING: Figure 8

Description

  Embodiments described herein relate generally to a positioning device and a positioning system.

  There is a system that uses a technique called PDR (Pedestrian Dead Reckoning) to measure the position of a positioning target such as a person or an object, and generate a flow line of the positioning target based on the positioning result. PDR uses an acceleration sensor, a gyro sensor (angular velocity sensor), a geomagnetic sensor (electronic compass), etc., to measure the movement direction (angle) and movement amount (distance, for example, stride) of the positioning object, and to position the positioning object. It is a technology to do.

  The position of the positioning object measured by such PDR technique is a relative position from an arbitrary base point, that is, a position represented by a relative coordinate system. For this reason, for example, when displaying a flow line of a positioning target on a map, the map is represented by an absolute coordinate system, so the coordinates of a relative coordinate system representing the position of the positioning target, so-called relative coordinates, are expressed as an absolute coordinate system representing the map. It is necessary to convert to the so-called absolute coordinates.

  Therefore, in general, a positioning target carries a mobile station that can receive radio waves transmitted from a transmitting station that is a fixed station, and the positioning device monitors reception of radio waves at the mobile station. When a radio wave is received at the mobile station, the absolute coordinates set in the transmitting station that is the source of the radio wave are specified as coordinates representing the current position of the positioning target. Thereafter, the positioning device obtains a position represented by the absolute coordinate system of the positioning object, so-called absolute position, from the position positioning result obtained by the PDR technique using the identified coordinates as a base point.

  A problem in such a conventional technique is the timing for specifying the absolute coordinates set in the transmission station as coordinates representing the current position of the positioning target. If the reach of the radio wave transmitted from the transmitting station is long, the mobile station may receive the radio wave from the transmitting station even if the mobile station is not very close to the transmitting station. In other words, when the mobile station receives radio waves, if the absolute coordinates set for the source station of the radio wave transmission source are specified as the coordinates representing the current position of the positioning target, the subsequent absolute position of the positioning target is actually The deviation from the position of becomes larger. For this reason, it is conceivable to shorten the reach of radio waves transmitted from the transmitting station. However, if the radio wave arrival distance is shortened, the mobile station cannot receive the radio wave, and thus there is a possibility that the coordinates representing the current position of the positioning target cannot be specified.

  Therefore, conventionally, a predetermined operation is performed on the mobile station at the timing when the person who is the positioning target is closest to the transmitting station, and the absolute coordinates set in the transmitting station of the radio wave received after the operation are determined as the current position of the positioning target. There is a technique for specifying coordinates to represent. Also, a threshold is set in advance for the received signal strength when the mobile station receives the radio wave from the source station, and the absolute coordinates set for the radio source station when the received signal strength exceeds the threshold There is a technique for specifying as an absolute position representing the current position of a positioning target. However, the former technique is cumbersome because it requires an operation by a person, and is limited in application because it must involve a person as a positioning target. In the latter technique, the received signal strength of the radio wave transmitted from the transmitting station may exceed a threshold value at an unexpected place away from the transmitting station, and in this case, the positioning accuracy is lowered.

Japanese Patent No. 52066764

  The problem to be solved by the embodiment of the present invention is that the absolute position of the positioning target can be determined with high reliability from the position data of the positioning target determined by the relative coordinate system without requiring an artificial operation. A positioning device and a positioning system are to be provided.

  In one embodiment, the positioning device includes a first storage unit, a second storage unit, a determination unit, and a conversion unit. The first storage unit stores, in chronological order, intensity data of radio waves transmitted and received between a mobile station that moves together with a positioning target and a plurality of base stations that are spaced apart from each other and whose position coordinates in the absolute coordinate system are known. A 2nd memory | storage part memorize | stores the data of the relative coordinate system regarding the movement of positioning object in time series. The determination means determines, for each base station, the time when the positioning target is closest to the base station, based on the time-series intensity data stored in the first storage unit. The conversion means starts from the first time at which the determination means has determined that it is closest to any one of the base stations, to the second time at which the determination means has determined that it has been closest to the other base station. The data of the relative coordinate system stored in the second storage unit in association with each time until the base station is converted into data based on the position coordinates of the absolute coordinate system of the base station closest to the positioning target at the first time. Convert.

1 is an overall configuration diagram of a positioning system according to an embodiment. The figure which shows an example of the data memorize | stored in the 1st table of FIG. The figure which shows an example of the data memorize | stored in the 2nd table of FIG. The figure which shows an example of the data memorize | stored in the 3rd table of FIG. The figure which shows an example of the data memorize | stored in the 4th table of FIG. The schematic diagram used for operation | movement description of a positioning system. The flowchart which shows the procedure of the main information processing which the processor of a positioning server performs. The flowchart which shows the procedure of the main information processing which the processor of a positioning server performs. The schematic diagram which shows the example of a display screen of a flow line. The schematic diagram which shows the example of a display screen of a flow line.

  Hereinafter, a description will be given of an embodiment of a positioning device and a positioning system capable of positioning the absolute position of a positioning target with high reliability from the position data of the positioning target obtained by a relative coordinate system without requiring an artificial operation. Will be described.

  FIG. 1 is an overall configuration diagram of a positioning system 100 according to an embodiment. The positioning system 100 targets, for example, a person or an object that freely moves in a predetermined positioning area in a building such as a factory, a warehouse, or an office, or a site where buildings, facilities, etc. are provided. Positioning is performed within the positioning area. Such a positioning system 100 includes a plurality of base stations 10 (10A, 10B, 10C,...), A mobile station 20, and a positioning server 30 as a positioning device.

  The plurality of base stations 10 are fixed stations that are spaced apart from each other so as to be scattered in the positioning region. Thus, since each base station 10 is a fixed station, the absolute coordinate which specifies the position of each base station 10 in the absolute coordinate system showing a positioning area is known. The number of base stations 10 is not particularly limited. Considering the area of the positioning area, the presence or absence of partitions or obstacles, etc., an appropriate number of base stations 10 as the positioning system 100 are arranged at appropriate positions in the positioning area.

  The base station 10 functions as a beacon signal transmission device. That is, the base station 10 transmits a predetermined unique beacon signal. Typically, the base station 10 is a beacon terminal that repeatedly transmits a Bluetooth (registered trademark) beacon signal according to the BLE (Bluetooth Low Energy) standard. The base station 10 may transmit a beacon signal other than the Bluetooth beacon signal. The beacon signal includes a beacon ID as identification information for specifying each base station 10. The beacon ID is unique information in which a different value is set for each base station 10.

  Such a base station 10 includes at least a processor 11, a memory 12, and a transmission / reception circuit 13, and these are connected by a system transmission line 14 such as an address bus and a data bus. The base station 10 configures a computer for controlling the base station 10 by connecting the processor 11 and the memory 12 via the system transmission path 14.

  The processor 11 corresponds to the central part of the computer. The processor 11 controls each unit to implement various functions as the base station 10 according to an operating system and application programs.

  The memory 12 corresponds to a storage part of the computer. The memory 12 includes a nonvolatile memory area and a volatile memory area. The memory 12 stores an operating system and application programs in a nonvolatile memory area. The memory 12 stores data necessary for the processor 11 to execute processing for controlling each unit in a nonvolatile or volatile memory area. The memory 12 uses a volatile memory area as a work area in which data is appropriately rewritten by the processor 11. The memory 12 uses a non-volatile memory area as a storage unit for the beacon ID.

  The transmission / reception circuit 13 wirelessly transmits a beacon signal including a beacon ID according to a short-range wireless communication standard such as BLE.

  The mobile station 20 is a wireless communication terminal that is carried by a positioning object such as a person or an object and moves together with the positioning object. The mobile station 20 functions as a beacon signal receiving device. In other words, the mobile station 20 can receive a beacon signal when the mobile station 20 exists within the radio wave arrival area of the beacon signal wirelessly transmitted from the base station 10. When receiving the beacon signal, the mobile station 20 detects the beacon ID from the beacon signal. Further, the mobile station 20 detects the reception strength of the beacon signal, so-called RSSI (Received Signal Strength Indication). Then, the mobile station 20 generates beacon data in which a beacon ID and an RSSI value are paired.

  Incidentally, when the mobile station 20 exists at a position where the radio wave arrival areas of the plurality of base stations 10 overlap, the mobile station 20 receives the beacon signals transmitted from these base stations 10 and transmits the beacon for each beacon signal. Generate data.

  The mobile station 20 has a function of measuring a moving state of a positioning target using PDR technology. That is, the mobile station 20 includes an acceleration sensor, a gyro sensor, a geomagnetic sensor, and the like. Based on these sensor signals, information indicating in what direction the positioning target has moved, that is, the moving direction (angle) and the moving direction. Measure quantity (distance) in real time. Then, for example, in the relative coordinate system in which the position of the positioning target at the positioning start time is the base point (0, 0), the mobile station 20 uses two-dimensional coordinates representing the current positioning target position, so-called relative coordinates (PDRx, PDRy). It is obtained from integrated data of the moving direction (angle) of the positioning object and the moving amount (distance). Each time the mobile station 20 obtains the relative coordinates (PDRx, PDRy) of the positioning target, it reaches the position of the current relative coordinate from the relative coordinates (PDRx, PDRy) and the position of the relative coordinate obtained immediately before. Relative coordinate system data (hereinafter referred to as relative movement data) relating to the movement of the positioning object including the movement direction (angle) and the movement amount (distance) is generated.

  Such a mobile station 20 includes at least a processor 21, a memory 22, a transmission / reception circuit 23, a clock 24, a sensor unit 25, and a wireless unit 26, which are connected by a system transmission path 27 such as an address bus and a data bus. The mobile station 20 configures a computer for controlling the mobile station 20 by connecting the processor 21 and the memory 22 via the system transmission path 27.

  The processor 21 corresponds to the central part of the computer. The processor 21 controls each unit to implement various functions as the mobile station 20 according to an operating system and application programs.

  The memory 22 corresponds to a storage part of the computer. The memory 22 includes a nonvolatile memory area and a volatile memory area. The memory 22 stores an operating system and application programs in a nonvolatile memory area. The memory 22 stores data necessary for the processor 21 to execute processing for controlling each unit in a nonvolatile or volatile memory area. The memory 22 uses a volatile memory area as a work area in which data is appropriately rewritten by the processor 21. The memory 22 uses a non-volatile memory area as a storage unit for the mobile station ID. The mobile station ID is unique information in which a different value is set for each mobile station 20. The mobile station ID functions as identification information for the mobile station 20.

  The transmission / reception circuit 23 receives a beacon signal transmitted from each base station 10 according to a short-range wireless communication standard such as BLE. The transmission / reception circuit 23 includes a circuit that detects RSSI that is the reception intensity of the beacon signal.

  The clock 24 measures the current date and time.

  The sensor unit 25 includes an acceleration sensor, a gyro sensor, a geomagnetic sensor, and the like, which are sensor groups for PDR. The acceleration sensor detects the acceleration of the mobile station 20. The gyro sensor detects the rotational angular velocity of the mobile station 20. The geomagnetic sensor measures the direction of the ground around the mobile station 20 and detects the direction.

  The wireless unit 26 performs wireless communication with an access point 41 on the network 40 in accordance with a LAN (Local Area Network) standard such as IEEE 802.15, IEEE 802.11, IEEE 802.3, or the like. Specifically, the wireless unit 26 wirelessly transmits mobile station data to the positioning server 30 every time one second is counted by the clock 24, for example. The mobile station data includes a mobile station ID, a time measured by the clock 24, beacon data at the same time, and relative movement data at the same time.

  As the mobile station 20 having such a configuration, a portable information terminal such as a smartphone, a mobile phone, a tablet terminal, or a laptop computer can be typically used.

  The access point 41 is arranged at an appropriate position in the positioning area so that mobile station data transmitted from the mobile station 20 can be received from any location in the positioning area. The network 40 transmits the mobile station data received at the access point 41 to the positioning server 30. The network 40 is, for example, a WiFi (registered trademark) standard wireless network or a mobile communication network.

  The positioning server 30 performs position positioning of the mobile station 20 specified by the mobile station ID included in the mobile station data based on the mobile station data received via the network 40. In other words, the positioning server 30 performs positioning of a positioning target carrying the mobile station 20 specified by the mobile station ID.

  Such a positioning server 30 includes at least a processor 31, a main memory 32, an auxiliary storage device 33, an input device 34, a display device 35, and a communication circuit 36, which are connected by a system transmission path 37 such as an address bus or a data bus. To do. The positioning server 30 configures a computer for controlling the positioning server 30 by connecting the processor 31, the main memory 32, and the auxiliary storage device 33 through the system transmission path 37.

  The processor 31 corresponds to the central part of the computer. The processor 31 controls each unit to implement various functions as the positioning server 30 according to the operating system and application programs.

  The main memory 32 corresponds to the main storage portion of the computer. The main memory 32 includes a nonvolatile memory area and a volatile memory area. The main memory 32 stores an operating system and application programs in a nonvolatile memory area. The main memory 32 stores data necessary for the processor 31 to execute processing for controlling each unit in a nonvolatile or volatile memory area. The main memory 32 uses a volatile memory area as a work area in which data is appropriately rewritten by the processor 31.

  The auxiliary storage device 33 corresponds to an auxiliary storage portion of the positioning server 30. For example, an EEPROM (Electric Erasable Programmable Read-Only Memory), an HDD (Hard Disc Drive), an SSD (Solid State Drive), or the like is used as the auxiliary storage device 33. The auxiliary storage device 33 includes a first table 331, a second table 332, a third table 333, and a fourth table 334, which will be described later. The first to fourth tables 331, 332, 333, and 334 are respectively formed for one positioning object. That is, when there are a plurality of positioning objects, the first to fourth tables 331, 332, 333, and 334 are formed for each positioning object.

  The input device 34 and the display device 35 function as a user interface device that manages information transmission between the positioning server 30 and the server user. The input device 34 is a touch panel, a mouse, a keyboard, or the like. The display device 35 is a liquid crystal display, an LED display, or the like.

  The communication circuit 36 is connected to the network 40 and takes in mobile station data received by the access point 41.

Next, the first to fourth tables 331, 332, 333, and 334 will be described with reference to FIGS.
FIG. 2 shows an example of data stored in the first table 331. As shown in the figure, in the first table 331, beacon data in which a beacon ID and an RSSI value are paired in association with time is stored from the first place to the third place in descending order of RSSI.

  Each time the processor 31 receives mobile station data from one mobile station 20, the processor 31 acquires time and beacon data included in the mobile station data. Then, when a plurality of beacon data is included in the mobile station data, the processor 31 compares the RSSI values constituting the beacon data. The processor 31 selects a beacon ID in descending order of the RSSI value, and sets the beacon ID and the RSSI value in order from the first place in the first table 331 together with the time included in the mobile station data. When there is only one beacon data, the beacon data is set in the first table 331 together with the time included in the mobile station data as the first data. Here, the first table 331 functions as a first storage unit.

  FIG. 3 is an example of data stored in the second table 332. As shown in the drawing, the second table 332 stores relative coordinates (PDRx, PDRy), an angle, and a movement amount in association with the time.

  Each time the processor 31 receives mobile station data from one mobile station 20, the processor 31 acquires time and relative movement data included in the mobile station data. Then, the processor 31 sets the relative coordinates (PDRx, PDRy), the movement direction (angle), and the movement amount (distance) constituting the relative movement data in the second table 332 together with the time included in the mobile station data. To do. Here, the second table 332 functions as a second storage unit.

  FIG. 4 is an example of data stored in the third table 333. As shown in the figure, the third table 333 stores each data of the first ID, RSSI, occupation ratio, second ID, total angle, and movement amount in association with the time. The first ID, RSSI, occupation rate, second ID, angle sum, and movement amount will be described later.

  FIG. 5 is an example of data stored in the fourth table 334. As illustrated, the fourth table 334 stores two-dimensional coordinates in the absolute coordinate system, so-called absolute coordinates (X, Y), in association with time. Specifically, the fourth table 334 stores absolute coordinates (X, Y) after converting the relative coordinates (PDRx, PDRy) representing the position of the positioning target stored in FIG. 3 into the absolute coordinate system. .

  FIG. 6 is a schematic diagram showing an example in which the positioning object 50 carrying the mobile station 20 moves in the positioning area 60. In the positioning area 60, a base station 10A in which a beacon ID “435” is set, a base station 10B in which a beacon ID “436” is set, and a base station 10C in which a beacon ID “437” is set are arranged. Has been. Specifically, the base station 10A is arranged at a position specified by the absolute coordinates (X10, Y10) of the absolute coordinate system with the lower left of the positioning area 60 as the origin P (0, 0). Similarly, the base station 10B is arranged at a position specified by the absolute coordinates (X20, Y20) of the same absolute coordinate system, and the base station 10C is placed at a position specified by the absolute coordinates (X30, Y30) of the same absolute coordinate system. Has been placed. The auxiliary storage device 33 of the positioning server 30 stores in advance position information indicating the absolute coordinates where the base stations 10A, 10B, and 10C are arranged in association with the beacon IDs of the base stations 10A, 10B, and 10C. Has been. Further, map information of the positioning area 60 is also stored in the auxiliary storage device 33.

  The origin P (0, 0) in the absolute coordinate system is not limited to the example of FIG. For example, the upper left or center of the positioning area 60 may be set as the origin P (0, 0). Further, the position information of each base station 10A, 10B, 10C may be associated with identification information for identifying each base station 10A, 10B, 10C, for example, a base station ID, instead of associating with the beacon ID. In that case, a conversion table for storing the beacon ID and the identification information (base station ID) in association with each other and converting the beacon ID into the identification information (base station ID) is required.

Hereinafter, the operation of the positioning system 100 will be described based on the movement example of FIG.
In the movement example of FIG. 6, the positioning object 50 carries the mobile station 20 and starts moving from the vicinity of the base station 10A at the time “10:10:10”, and the base station 10B at the time “10:10:17”. The case of moving to the position shown in the figure at time “10:10:24” through the vicinity of the base station 10C at time “10:10:22” and the time shown in FIG. And the data of the 1st table 331 and the 2nd table 332 created by the mobile station data transmitted by radio from the mobile station 20 at any time with such a movement are shown in Drawing 2 and Drawing 3, respectively.

  That is, at time “10:10:10”, the mobile station 20 receives the beacon signal including the beacon ID “435” from the data in the first table 331 with the maximum RSSI “−80 dbm”, and the beacon ID “ It shows that a beacon signal including “436” is received at the second largest RSSI “−95 dbm” and a beacon signal including the beacon ID “437” is received at the third largest RSSI “−96 dbm”. At the same time “10:10:10”, the positioning target 50 carrying the mobile station 20 moves from the data of the second table 332 by 1.5 m in the direction of the angle + 10 °, and the relative coordinates (PDRx1, PDRx1, PDRy1).

  At time “10:10:11”, the mobile station 20 receives the beacon signal including the beacon ID “435” with the maximum RSSI “−83 dbm” from the data in the first table 331, and the beacon ID “ It shows that the beacon signal including “436” is received by the second largest RSSI “−92 dbm” and the beacon signal including the beacon ID “437” is received by the third largest RSSI “−96 dbm”. At the same time “10:10:11”, from the data in the second table 332, the positioning target 50 carrying the mobile station 20 is 1 m in the direction of the angle −10 ° from the position of the relative coordinates (PDRx1, PDRy1). It has moved and has shown that it exists in the position of relative coordinates (PDRx2, PDRy2).

  The same applies to other times thereafter. For example, at time “10:10:17”, from the data in the first table 331, the mobile station 20 receives a beacon signal including the beacon ID “436” with the maximum RSSI “−79 dbm” and the beacon ID “435”. ”Is received with the second largest RSSI“ −93 dbm ”, and the beacon signal including the beacon ID“ 437 ”is received with the third largest RSSI“ −96 dbm ”. At the same time “10:10:17”, from the data of the second table 332, the positioning target 50 carrying the mobile station 20 is 1 m in the direction of the angle + 40 ° from the position of the relative coordinates (PDRx7, PDRy7). It has moved and has shown that it exists in the position of a relative coordinate (PDRx8, PDRy8).

  Now, in the state where the data shown in FIGS. 2 and 3 is stored in the first table 331 and the second table 332, when a command for generating a flow line of the positioning target 50 is input via the input device 34, the processor 31 executes information processing of the procedure shown in the flowcharts of FIGS. This process is in accordance with a flow line generation program which is a kind of application program stored in the main memory 32 or the auxiliary storage device 33. Note that the contents of the various processes described below are examples, and various processes capable of obtaining similar results can be used as appropriate.

  First, the processor 31 sets both the first flag F1 and the second flag F2 to “0” as Act1. Further, the processor 31 resets both the first counter n and the second counter t to “0” as Act2. Note that the processing order of Act1 and Act2 may be reversed.

  The first flag F1 is 1-bit data that holds “0” until the first record is recorded in the third table 333 and is updated to “1” when the first record is recorded. The second flag F2 holds “0” until the process of converting the relative coordinates (PDRx, PDRy) stored in the second table 332 into the absolute coordinates (X, Y) is performed. This is 1-bit data updated to 1 ″. The first counter n counts the number of times that the time at which it is determined that the positioning target 50 is closest to any one of the base stations 10 (hereinafter referred to as the near time) is specified. The second counter t counts a value corresponding to time. The first flag F1, the second flag F2, the first counter n, and the second counter t are stored in the volatile memory area of the main memory 32.

  The processor 31 acquires the start time ST as Act3. Then, the processor 31 sets a value corresponding to the start time ST as an initial value of the second counter t. The start time ST is input via the input device 34. Incidentally, in this operation example, the start time ST is set to “10:10:10”.

  The processor 31 calculates the first ID at time T, the RSSI, the total angle, and the movement amount as Act4, and records them in the third table 333. Time T is a time corresponding to the value of the second counter t. The first ID is a beacon ID included in the beacon signal whose RSSI indicates the maximum value at the time T, and the RSSI value of the beacon signal is set in the RSSI area of the third table 333. The first ID and RSSI can be obtained from the data at time T in the first table 331. The angle sum is a value obtained by adding the angle of the positioning object 50 at time T to the angle sum of the record at time (T-1) in the third table 333. However, when there is no record of time (T-1) in the third table 333, the angle of the positioning target 50 at time T is the angle sum. The movement amount is the movement amount of the positioning object 50 at time T. The angle and movement amount of the positioning object 50 at time T can be obtained from the data at time T in the second table 332.

  Incidentally, when the time T is the start time “10:10:10”, the third table 333 has no record of the time (T−1). Therefore, the processor 31 associates “435” as the first ID, “−80” as the RSSI, “10” as the total angle, and the amount of movement with respect to the third table 333 in association with the time “10:10:10”. As “1.5”.

  The processor 31 determines whether or not the first flag F1 is “0” as Act5. When the first flag F1 is “0”, Act 4 indicates that the first record is recorded in the third table 333. When the first flag F1 is “0” (Act5, YES), the processor 31 records a predetermined value “0” as the second ID of the first record as Act6. Further, the processor 31 updates the first flag F1 to “1” as Act7. Thereafter, the processor 31 proceeds to Act8.

  When the time T is the start time “10:10:10”, the first flag F1 is “0” at the time of Act5. Therefore, the processor 31 records “0” as the second ID for the record at time “10:10:10” in the third table 333. Note that the value recorded as the second ID in the first record of the third table 333 is not limited to “0”. In short, any value can be used as long as the processor 31 can identify that it is the first record.

  If the first flag F1 has already been updated to “1” in Act5 (Act5, NO), the processor 31 skips the processes in Act6 and Act7 and proceeds to Act8. That is, when the second and subsequent records are recorded in the third table 333 in Act4, the processor 31 skips the processes in Act6 and Act7 and proceeds to Act8.

  In Act 8, the processor 31 calculates the occupation ratio. The occupation ratio is a ratio of base stations that have the maximum RSSI within a time period that is a predetermined evaluation target time from the current time T. In this operation example, the evaluation target time is 5 seconds. The beacon ID of the base station having the maximum RSSI within the time traced back from the time T to be evaluated is recorded as the first ID in the third table 333 for each time within that time. The processor 31 calculates the occupation rate from the information in the first ID area of the third table 333.

  When the time T is the start time “10:10:10”, the first table 331 has no record before the time “10:10:10”. That is, the first ID for which the occupation rate is calculated is only one of the beacon ID “435” of the base station 10A. Therefore, when the evaluation target time is 5 seconds, the occupation ratio is 20% (1/5 = 0.2) of the base station 10A. The processor 31 records “435: 0.2” (“beacon ID: occupancy rate”) as the occupancy rate information for the record at time “10:10:10” in the third table 333.

  The processor 31 determines whether an occupancy ratio equal to or greater than a predetermined threshold is calculated as Act9. In this operation example, the threshold is set to 0.8 (80%). When the occupation ratio equal to or greater than the threshold is not calculated (Act 9, NO), the processor 31 determines whether the second flag F1 is updated to “1” as Act 10.

  When the second flag F1 has been updated to “1” (Act10, YES), the processor 31 executes the processes of Act11 to Act13. When the second flag F2 is not updated to “1” (Act10, YES), the processor 31 skips the processes of Act11 and Act12 and executes only the process of Act13. The processing of Act11 and Act12 will be described later. In Act 13, the processor 31 counts up the second counter t by “1”.

  As described above, when the time T is “10:10:10”, the occupation ratio equal to or higher than the threshold is not calculated. The second flag F2 is “0”. Therefore, the processor 31 proceeds to Act 13 and counts up the second counter t by “1”.

  When the processing of Act13 is completed, the processor 31 determines whether or not a positioning end instruction is input as Act14. The positioning end instruction is input via the input device 34. If the positioning end instruction has not been input, the processor 31 returns to Act 4 and executes the processes after Act 4 again.

  That is, the processor 31 associates “435” as the first ID, “−83” as the RSSI, the angle with respect to the time “10:10:11” corresponding to the value of the second counter t with respect to the third table 333. “0” is recorded as the sum, and “1.0” is recorded as the movement amount. In addition, the processor 31 calculates an occupation rate. Since the first flag F1 has been updated to “1”, the processor 31 does not perform the processes of Act6 and Act7.

  When the time T is “10:10:11”, there are only two beacon IDs “435” of the base station 10A as the first IDs for which the occupation rate is calculated. Therefore, when the evaluation target time is 5 seconds, the occupation ratio is 40% (2/5 = 0.4) of the base station 10A. The processor 31 records “435: 0.4” as the occupation rate information in the record of the time “10:10:11” of the third table 333. Also in this case, since the occupation ratio has not reached the threshold value, the processor 31 proceeds to Act 13 and counts up the second counter t. After that, the processor 31 returns to Act 4 when the end of positioning is not instructed, and executes the processes after Act 4 again.

  As a result, the processor 31 associates the third table 333 with the time “10:10:12”, sets “435” as the first ID, “−86” as the RSSI, and “435: 0.6” as the occupation rate. , “−20” is recorded as the total angle, and “1.2” is recorded as the movement amount. Further, the processor 31 associates with the time “10:10:13”, “435” as the first ID, “−87” as the RSSI, “435: 0.8” as the occupation ratio, and “−30” as the angle sum. And “1.0” is recorded as the movement amount.

  Here, the occupation ratio calculated at time “10:10:13” is equal to or greater than the threshold. When the occupation ratio becomes equal to or greater than the threshold (Act 9, YES), the processor 31 proceeds to Act 21 in FIG. That is, the processor 31 records, as Act 21, the beacon ID “435” of the base station whose occupation ratio is equal to or greater than the threshold as the second ID in the record at time “10:10:13” of the third table 333.

  When the processing of Act 21 is completed, the processor 31 searches the second ID of the record recorded in the third table 333 in association with the time before the time T as Act 22 retroactively from the time T. Then, the processor 31 determines whether the second ID detected first is “0” or the same as the second ID recorded in the third table 333 in association with the time T as Act 23. Here, when the second ID detected first is “0” or the same (Act 23, YES), the processor 31 proceeds to Act 10 in FIG.

  In this operation example, when the time is “10:10:13”, the second ID first detected from the third table 333 is “0” associated with the time “10:10:10”. Therefore, the processor 31 proceeds to Act10. At this time, the second flag F2 is set to “0”. Therefore, the processor 31 proceeds to Act 13 and counts up the second counter t. After that, the processor 31 returns to Act 4 when the end of positioning is not instructed, and executes the processes after Act 4 again.

  As a result, the processor 31 associates the third table 333 with the time “10:10:14”, “435” as the first ID, “−89” as the RSSI, and “435: 1.0” as the occupation rate. , “−20” is recorded as the total angle, and “1.0” is recorded as the movement amount. Further, since the occupation ratio is equal to or greater than the threshold, the processor 31 records “435” as the second ID.

  In this case, the second ID detected first by searching the third table 333 is “435” recorded in association with the time “10:10:13”, and is associated with the time “10:10:14”. And the second ID “435” recorded in this manner. Therefore, the processor 31 proceeds to Act10. Even at this time, the second flag F2 is set to “0”. Therefore, the processor 31 proceeds to Act 13 and counts up the second counter t. After that, the processor 31 returns to Act 4 when the end of positioning is not instructed, and executes the processes after Act 4 again.

  When the time T becomes “10:10:15”, the beacon ID included in the beacon signal whose RSSI indicates the maximum value “−89” at the time T is changed to “436” of the base station 10B. As a result, the processor 31 associates “436” as the first ID, “−89” as the RSSI, “10” as the angle sum, in association with the time “10:10:15” with respect to the third table 333. Record “1.5” as the amount of movement. Further, the first IDs for which the occupation rate is calculated are four beacon IDs “435” of the base station 10A and one beacon ID “436” of the base station 10B. Therefore, the processor 31 records “435: 0.8, 436: 0.2” as the occupation ratio. Also in this case, since the occupation ratio of the base station 10A is equal to or greater than the threshold, the processor 31 records “435” as the second ID.

  Thereafter, similarly, the processor 31 associates the first ID with the time “10:10:16”, the time “10:10:17”, and the time “10:10:18” with respect to the third table 333. , RSSI, occupation rate, total angle, and movement amount are recorded. Further, at time “10:10:18”, the occupation ratio of the beacon ID “436” is equal to or greater than the threshold value, so the processor 31 records “436” as the second ID. At this time, as a result of searching the third table 333 in Act 22, the second ID detected first is “435” recorded in association with the time “10:10:15”. Become. That is, the processor 31 determines No in Act 23, and proceeds to Act 24. In Act 24, the processor 31 counts up the counter n by “1”. That is, the counter n is “1”.

  The processor 31 specifies the n-th neighboring time Tn as Act 25. n is the value of the counter n. Specifically, the processor 31 searches the record in the third table 333 retroactively from the time T, and acquires the first ID detected first. Then, the processor 31 extracts all records from the third table 333 in which the same ID as the second ID is recorded as the first ID at a time before the time T. Then, the processor 31 sets the time of the record with the largest RSSI among the extracted records as the neighborhood time Tn.

  That is, the second ID first detected retroactively from time “10:10:18” is “435” at time “10:10:15”. Therefore, five records from the time “10:10:10” when the first ID “435” is recorded to the time “10:10:14” are extracted from the third table 333. The RSSI “−80” of the record at time “10:10:10” has the largest RSSI among these five records. Therefore, the time “10:10:10” of this record is the first neighborhood time T1.

  When the processor 31 specifies the neighborhood time T1, the processor 31 stores the neighborhood time T1 in the volatile memory area of the main memory 32 as Act26. Next, the processor 31 determines whether the counter n is “2” or more as Act 27. When the counter n is not “2” or more (Act 27, NO), the processor 31 proceeds to Act 10 in FIG.

  At the time “10:10:18”, the counter n is “1”. Therefore, the processor 31 proceeds to Act 10 of FIG. Even at this time, the second flag F2 is set to “0”. Therefore, the processor 31 proceeds to Act 13 and counts up the second counter t. After that, the processor 31 returns to Act 4 when the end of positioning is not instructed, and executes the processes after Act 4 again.

  As a result, the processor 31 associates the third table 333 with the time “10:10:19”, sets “436” as the first ID, “−82” as the RSSI, and “436: 1.0” as the occupation rate. , “436” as the second ID, “90” as the total angle, and “1.2” as the movement amount are recorded.

  Thereafter, similarly, the processor 31 applies the time “10:10:20”, the time “10:10:21”, the time “10:10:22”, and the time “10:10: The first ID, RSSI, occupancy, total angle, and amount of movement are recorded in association with 23 ″. At time “10:10:20”, since the occupation rate of the beacon ID “436” is equal to or greater than the threshold, the processor 31 records the second ID “436”. Similarly, at time “10:10:23”, the occupancy of the beacon ID “437” is equal to or greater than the threshold value, so the processor 31 records the second ID “437”.

  When the second ID “437” is recorded in association with the time “10:10:23”, it is determined in Act 23 that they do not match. As a result, the processor 31 proceeds to Act 24, and counts up the counter n by “1”. That is, the counter n is “2”.

  The processor 31 specifies the second neighboring time T2 as Act25. Specifically, the second ID detected first from the time “10:10:23” is “436”. Accordingly, five records from the time “10:10:15” when the first ID “436” is recorded to the time “10:10:19” are extracted from the third table 333. The RSSI “−79” of the record at time “10:10:17” at which the RSSI is the maximum among these five records. Therefore, the time “10:10:17” of this record becomes the second neighboring time T2.

  Here, the processor 31 implements a determination unit by executing the processes of Act8, Act9, Act21 to Act26.

  When the second neighboring time T2 is stored in the volatile memory area of the main memory 32 in Act 26, the processor 31 determines YES in Act 27, and proceeds to Act 28.

  In Act 28, the processor 31 determines the relative coordinates (PDRx, PDRy) of the positioning target 50 at the neighboring time T (n−1), which is the first time before the latest neighboring time Tn, which is the second time. Is the first base point of the relative coordinate system. Then, the processor 31 uses the relative coordinates (PDRx, PDRy) as the first base point of this relative coordinate system, and the absolute coordinates of the base station 10 that transmits the strongest beacon signal at the vicinity time T (n−1). Replace with (X, Y). Similarly, the processor 31 sets the relative coordinates (PDRx, PDRy) of the positioning target 50 at the latest neighboring time Tn, which is the second time, as the second base point of the relative coordinate system. Then, the processor 31 uses the relative coordinates (PDRx, PDRy) as the second base point of the relative coordinate system, and the absolute coordinates (X, Y) of the base station 10 that transmits the strongest beacon signal at the vicinity time Tn. Replace with.

  In this operation example, the latest neighborhood time (second time) T2 is “10:10:17”, and the neighborhood time (first time) T1 immediately before that is “10:10:10”. ". Accordingly, the relative coordinates (PDRx1, PDRy1) of the positioning object 50 at time T1 (“10:10:10”) are the first base point of the relative coordinate system. Further, the relative coordinates (PDRx8, PDRy8) of the positioning object 50 at time T2 (“10:10:17”) are the second base point of the relative coordinate system. On the other hand, the base station that transmits the strongest beacon signal at time T1 (“10:10:10”) is the base station 10A, and its absolute coordinates are (X10, Y10). The base station that transmits the strongest beacon signal at time T2 (“10:10:17”) is the base station 10B, and the absolute coordinates thereof are (X20, Y20).

  Therefore, in Act 28, the processor 31 replaces the relative coordinates (PDRx1, PDRy1) at time T1 (“10:10:10”), that is, the so-called first base point relative coordinates with absolute coordinates (X10, Y10). The absolute coordinates (X10, Y10) are recorded in association with the time T1 (“10:10:10”) in the fourth table 334. Similarly, the processor 31 replaces the relative coordinates (PDRx8, PDRy8) at time T2 (“10:10:17”), that is, the so-called second base point relative coordinates with absolute coordinates (X20, Y20). The absolute coordinates (X20, Y20) are recorded in association with the time T2 (“10:10:17”) in the fourth table 334.

  When the processing of Act 28 is finished, the processor 31 calculates, as Act 29, a scale factor d for converting the relative coordinates into absolute coordinates and a displacement Δθ in the rotation direction. That is, the processor 31 determines the relative coordinates (PDRx1, PDRy1) of the first base point and the relative coordinates (PDRx8, PDRy8) of the second base point, the absolute coordinates (X10, Y10) of the first base point, and the second base point. Based on the absolute coordinates (X10, Y10), the scale factor d is calculated by the following equation (1), and the displacement Δθ in the rotational direction is calculated by the following equation (2). In the formula (1), the parentheses [] mean that it is included in the route on the left side.

d = √ [(X20−X10) ² + (Y20−Y10) ² ] / √ [(PDRx8−PDRx1) ² + (PDRy8−PDRy1) ² ] (1)
Δθ = tan ⁻¹ [(Y20-Y10) / (X20-X10)] − tan ⁻¹ [(PDRy8-PDRy1) / (PDRx8-PDRx1)] (2)
Next, the processor 31 sets, as Act 30, the time T1 (“10:10:10”) to the time T2 (“” using the following formulas (3) and (4) using the scale factor d and the rotational displacement Δθ. 10:10:17 ”) The position of the positioning object 50 at each time (“ 10:10:11 ”to“ 10:10:16 ”) in the section until“ 10:10:17 ”), the relative coordinates (PDRx, PDRy) of the so-called midpoint Convert to absolute coordinates (X, Y).

X = d (PDRx cos Δθ−PDRy sin Δθ) (3)
Y = d (PDRx sinΔθ + PDRy cosΔθ) (4)
The processor 31 associates each time (“10:10:11” to “10:10:16”) in the fourth table 334 with the absolute coordinates obtained by converting the relative coordinates (PDRx, PDRy) at that time. Record the coordinates (X, Y).
Here, the processor 31 implements a conversion means by executing the processing of Act28 to Act30.

  Based on the absolute coordinates (X, Y) for each time stored in the fourth table 334 as Act 31, the processor 31 causes the display device 35 to display a movement representing the flow line of the positioning target from time T1 to time T2. A line display screen 70 (see FIG. 9) is displayed.

  FIG. 9 is an example of the flow line display screen 70. In the example of FIG. 9, the second base point at time T2 (“10:10:17”) is obtained from the coordinates (X10, Y10) as the first base point at time T1 (“10:10:10”). The flow line of the positioning object 50 up to the coordinates (X20, Y20) connects the points indicating the coordinates that are the midpoints of each time ("10:10:11" to "10:10:16"). It is indicated with an arrow. Although not shown in the drawing, a map of the positioning area 60 is also displayed on the flow line display screen 70.

  When the processing of Act31 is completed, the processor 31 sets the second flag F2 to “1” as Act32. Thereafter, the processor 31 proceeds to Act10. At this time, the second flag F2 is updated to “1”. Therefore, the processor 31 executes the processes of Act11 and Act12.

That is, the processor 31 calculates the provisional position in the absolute coordinate system of the positioning object 50 from the relative movement data after the time T2 (“10:10:17”) as the second base point as Act11. Specifically, the processor 31 acquires the total angle “80 °” and the amount of movement “1.0 m” of the relative movement data stored in association with the time “10:10:18” from the third table 333. Further, the processor 31 sets the direction relative to the absolute coordinate at the time “10:10:17” to the angle sum “30 °” stored in the third table 333 in association with the time “10:10:17”. It is obtained by adding Δθ obtained by the equation Then, the processor 31 moves from the absolute coordinates (X20, Y20) stored in association with the time “10:10:17” in the fourth table 334 in the direction (Δθ + 30) with respect to the absolute coordinates at the time “10:10:17”. A point that has moved by “1.0 m” in the direction [(Δθ + 30) +50] with the difference “50 °” of the total angle between time “10:10:18” and time “10:10:17” added. The coordinates (X20 + α1, Y20 + β1) are calculated as temporary position coordinates. Then, the processor 31 records the temporary position coordinates (X20 + α1, Y20 + β1) in association with the time “10:10:18” in the fourth table. Next, the processor 31 acquires the total angle “90 °” and the amount of movement “1.2 m” of the relative movement data stored in association with the time “10:10:19” from the third table 333. Then, the processor 31 calculates the direction [((20:10:18)] from the temporary position coordinates (X20 + α1, Y20 + β1) stored in association with the time “10:10:18” in the fourth table 334 [( The amount of movement “1” in the direction [[(Δθ + 30) +50] +10] obtained by adding the difference “10 °” of the total angle between the time “10:10:19” and the time “10:10:18” to “Δθ + 30) +50]. The coordinates (X20 + α1, Y20 + β1) of the point moved by “.0 m” are calculated as temporary position coordinates. Then, the processor 31 records the temporary position coordinates (X20 + α2, Y20 + β2) in association with the time “10:10:19” in the fourth table. Thereafter, the processor repeats the process of obtaining the temporary position coordinates for each time in the same manner as described above until the time “10:10:23” corresponding to the value of the second counter t is reached.
Here, the processor 31 implements provisional means by executing the processing of Act11.

Based on the coordinates (X, Y) after time T2 (“10:10:17”) stored in the fourth table 334 as Act 12, the processor 31 displays the provisional position of the positioning target on the flow line display screen 70. Add a flow line to represent.
FIG. 10 is an example of a flow line display screen 70 to which a flow line representing a temporary position is added. In the example of FIG. 10, the flow line indicating the provisional position of the positioning target is indicated by a broken line.

  When the processing of Act11 and Act12 is completed, the processor 31 proceeds to Act13 and counts up the second counter t by “1”. After that, the processor 31 returns to Act 4 when the end of positioning is not instructed, and executes the processes after Act 4 again.

  As a result, the processor 31 associates the third table 333 with the time “10:10:24”, sets “437” as the first ID, “−89” as the RSSI, and “437: 1.0” as the occupation rate. , “437” as the second ID, “10” as the total angle, and “1.0” as the movement amount are recorded. At this time, since the second flag F2 is set to “1”, the processing of Act11 and Act12 is executed. That is, the processor 31 obtains the provisional position of the positioning object 50 at time “10:10:24”, and adds the provisional position and the movement line to the movement line display screen 70.

  Thereafter, the processor 31 repeats the same processing. Therefore, when the proximity time T3 (“10:10:22”) for the base station 10C with the beacon ID “427” is specified in the processing of Act 25, the processor 31 executes the processing of Act 28 to Act 31. That is, the processor 31 replaces the relative coordinates (PDRx, PDRy) of the positioning target 50 at the third time T3 with the absolute coordinates (X30, Y30) of the base station 10C at the time T1 (“10” in the fourth table 334). : 10: 22 "), absolute coordinates (X30, Y30) are recorded.

  Further, the processor 31 calculates a scale factor d and a rotational displacement Δθ for converting the relative coordinates into absolute coordinates. Then, the processor 31 performs the respective times (“10:10:18” to “10:10:21” in the section from the time T2 (“10:10:17”) to the time T3 (“10: 10: 2”). )), The relative position (PDRx, PDRy) of the positioning target 50 in so-called midway point is converted into absolute coordinates (X, Y), and each time (“10:10:18” to “10” in the fourth table 334 is converted. : 10: 21 "), the temporary position coordinates stored in association with the absolute coordinates are corrected.

  Note that when an instruction to end positioning is input via the input device 34, the processor 31 determines “YES” in Act 14, and ends the information processing.

  As described above, in the positioning system 100, the positioning target 50 carries the mobile station 20 that can receive the radio waves of the beacon signals transmitted from the plurality of base stations 10 that are separated from each other. And the positioning server 30 memorize | stores the intensity | strength data of the electromagnetic wave each transmitted / received between the mobile station 20 and each base station 10 in the 1st table 331 in time series.

  In addition, the positioning system 100 measures the position of the positioning target 50 by using the PDR technique provided in the mobile station 20. And the positioning server 30 memorize | stores the data of the relative coordinate system regarding the movement of the positioning object 50 in a 2nd table 332 in time series.

  Furthermore, the positioning server 30 performs the following operations. That is, the positioning server 30 determines the time at which the positioning target 50 is closest to the base station 10 for each base station 10 based on the time-series intensity data stored in the first table 331. Then, the positioning server 30 has each time from the first time determined to be closest to any one of the base stations 10 to the second time determined to be closest to the other base station. The data of the relative coordinate system stored in the second table 332 in association with each time is converted into data based on the position coordinates of the absolute coordinate system of the base station 10 closest to the positioning target at the first time.

  Therefore, according to the positioning server 30 and the positioning system 100 including the positioning server 30, the absolute position of the positioning target 50 can be determined from the position data of the positioning target 50 determined by the relative coordinate system. In that case, there is no need to perform a predetermined operation on the mobile station 20 at the timing when the person to be positioned closest to the base station 10 as in the conventional case, that is, no artificial operation is required. In addition, it is simple and uses are not limited. In addition, since it is not necessary to shorten the reach of radio waves transmitted from the base station 10, positioning can be performed with high reliability.

  In addition, the positioning server 30 obtains the ratio of the base stations 10 having the maximum intensity data within a predetermined time, and determines the base station 10 whose ratio exceeds a predetermined threshold as the determination target. The time at which the intensity data of the radio wave transmitted / received to / from the station 10 becomes the maximum value is determined as the closest time. Therefore, even if the received signal intensity of the radio wave transmitted from the base station 10 temporarily increases at an unexpected place away from the base station 10, it can be ignored, so that positioning can be performed with high accuracy.

  In addition, the positioning server 30 can calculate the provisional position of the positioning target 50 in the absolute coordinate system based on the relative coordinate system data stored in the second table 332 in association with a time later than the second time. This provisional position is the latest position of the positioning object 50. Therefore, a flow line obtained by adding a temporary position to the absolute position of the positioning target 50 obtained by converting the position coordinates of the absolute coordinate system of the base station 10 closest to the positioning target at the first time to the base point is obtained. It can be displayed in real time.

  The provisional position is corrected on the condition that it is determined that it is closest to any one of the base stations 10 at a time later than the second time. Therefore, the reliability of positioning is not impaired.

Hereinafter, modifications of the embodiment will be described.
In the embodiment, the base station 10 is a beacon signal transmitting device, and the mobile station 20 is a beacon signal receiving device. In this regard, the mobile station 20 may be a beacon signal transmitter, and the base station 10 may be a beacon signal receiver. In this case, the base station 10 may transmit the data related to the radio wave reception intensity of the beacon signal to the positioning server 30 via the access point 41 or may be transmitted to the positioning server 30 via the access point 41 via the mobile station 20. May be.

  In the embodiment, the evaluation target time for calculating the occupation ratio is 5 seconds, but this time is arbitrary. Similarly, the threshold for the occupation ratio is not limited to 80%.

  In the above-described embodiment, the case where the flow line indicating the movement of the positioning object 50 is displayed is shown. However, since the absolute position of the positioning object 50 may be measured, the flow line display function may not necessarily be provided. In that case, the processing steps of Act12 in FIG. 7 and Act31 in FIG. 8 are omitted.

  In addition, although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  10 (10A, 10B, 10C) ... base station, 20 ... mobile station, 30 ... positioning server, 40 ... network, 50 ... positioning target, 100 ... positioning system, 331 ... first table, 332 ... second table, 333 ... 3rd table, 334 ... 4th table.

Claims (5)

A first storage unit that stores, in time series, intensity data of radio waves transmitted and received between a mobile station that moves together with a positioning target and a plurality of base stations that are spaced apart from each other and whose position coordinates in the absolute coordinate system are known;
A second storage unit that stores data of a relative coordinate system related to movement of the positioning object in time series;
Determination means for determining, for each base station, the time when the positioning target is closest to the base station, based on the time-series intensity data stored in the first storage unit;
From the first time determined by the determining means to be closest to any one of the base stations to the second time determined to be closest to another one of the base stations by the determining means The relative coordinate system data stored in the second storage unit in association with each time until, and the base coordinate of the absolute coordinate system position of the base station closest to the positioning target at the first time Conversion means for converting the data into
A positioning device comprising: The determination means obtains a ratio of the base stations at which the intensity data reaches a maximum value within a predetermined time, and determines the base station whose ratio exceeds a predetermined threshold as a determination target. The time at which the intensity data of the radio wave transmitted / received to / from the station is the maximum value is determined as the closest time,
The positioning device according to claim 1. Provisional means for calculating a provisional position of the positioning target in the absolute coordinate system from data of the relative coordinate system stored in the second storage unit in association with a time later than the second time;
The positioning device according to claim 1, further comprising: At a time later than the second time, on the condition that the determination unit determines that it is closest to any one of the base stations, the conversion unit calculates the provisional position calculated by the provisional unit. to correct,
The positioning device according to claim 3. A positioning device according to any one of claims 1 to 4,
A plurality of spaced apart base stations whose position coordinates in the absolute coordinate system are known;
A mobile station capable of transmitting and receiving radio waves to and from the base station and moving together with a positioning target;
Including
The positioning device is a positioning system that takes in the intensity data of the radio wave and data of a relative coordinate system related to the movement of the positioning target from the mobile station or the base station.